The invention discloses an underwater vector light visual guidance method and device. The underwater vector light visual guidance method comprises the following steps: arranging an installation mode of a vector lamp on a recovery cover according to a vector lamp template; turning on a vector lamp, and acquiring a vector lamp modal diagram by an underwater camera; enabling an image processing module of the underwater camera to carry out skeletal processing on the vector lamp modal diagram and extracts wing lamps to obtain wing lamp feature points, and achieving vector light visual guidance; enabling an image processing module of the underwater camera to acquire three-dimensional space coordinates and attitude information of the to-be-recycled object relative to the dock coordinate system according to the wing lamp feature points, and output the three-dimensional space coordinates and attitude information to a control system of the to-be-recycled object; correcting the navigation parameters of the to-be-recycled object according to the related information until the to-be-recycled object enters the dock recycling device, wherein the vector lamp template corresponds to the vector lampmodal diagram. The underwater vector light visual guidance method and device provided by the invention are good in adaptability and high in flexibility, the effect of laying marker lamps on a large-size dock can be achieved on the small-size dock, and accurate extraction of feature points is achieved.
本发明公开了一种水下矢量光视觉导引方法及装置,包括:按照矢量灯模板布置矢量灯在回收罩上的安装方式;开启矢量灯,由水下摄像机获取矢量灯模态图;水下摄像机的图像处理模块对该矢量灯模态图进行骨骼化处理并提取翼灯,得到翼灯特征点,实现矢量光视觉导引;水下摄像机的图像处理模块根据该翼灯特征点获取待回收物体相对于坞站坐标系的三维空间坐标和姿态信息,并将其输出给待回收物体的控制系统;待回收物体根据相关信息修正航行参数,直至进入坞站回收装置;其中,矢量灯模板与矢量灯模态图互相对应。本发明提供该水下矢量光视觉导引方法及装置,适应性好,灵活性强,可在小尺寸坞站上实现大尺寸坞站布放标志灯的效果,实现特征点的准确提取。
Underwater vector light visual guidance method and device
水下矢量光视觉导引方法及装置
2020-08-07
Patent
Electronic Resource
Chinese
IPC: | B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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